DyVArticulation.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef DY_V_ARTICULATION_H
#define DY_V_ARTICULATION_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "foundation/PxVecMath.h"
#include "foundation/PxUtilities.h"
#include "CmUtils.h"
#include "CmSpatialVector.h"
#include "foundation/PxMemory.h"
#include "DyArticulationCore.h"
#include "DyArticulationJointCore.h"
 
namespace physx
{
    struct PxsBodyCore;
    class PxsConstraintBlockManager;
    class PxsContactManagerOutputIterator;
    struct PxSolverConstraintDesc;
    struct PxSolverBodyData;
    class PxContactJoint;
    struct PxTGSSolverBodyData;
    struct PxTGSSolverBodyTxInertia;
    struct PxSolverConstraintDesc;
 
    namespace Dy
    {
        
        struct SpatialSubspaceMatrix;
        
        struct ConstraintWriteback;
        class ThreadContext;
 
        static const size_t DY_ARTICULATION_TENDON_MAX_SIZE = 64;
    
        struct Constraint;
        class Context;
        class ArticulationSpatialTendon;
        class ArticulationFixedTendon;
        class ArticulationTendonJoint;
        struct ArticulationSensor;
 
 
        struct ArticulationLoopConstraint
        {
        public:
            PxU32 linkIndex0;
            PxU32 linkIndex1;
            Dy::Constraint* constraint;
        };
 
#define DY_ARTICULATION_LINK_NONE 0xffffffff
 
        typedef PxU64 ArticulationBitField;
 
        struct ArticulationLink
        {
            ArticulationBitField        children;       // child bitmap
            ArticulationBitField        pathToRoot;     // path to root, including link and root
            PxU32                       mPathToRootStartIndex;
            PxU32                       mChildrenStartIndex;
            PxU16                       mPathToRootCount;
            PxU16                       mNumChildren;
            PxsBodyCore*                bodyCore;
            ArticulationJointCore*      inboundJoint;
            PxU32                       parent;
            PxReal                      cfm;
        };
 
        class FeatherstoneArticulation;
 
        struct ArticulationSolverDesc
        {
            void    initData(ArticulationCore* core_, const PxArticulationFlags* flags_)
            {
                articulation            = NULL;
                links                   = NULL;
                motionVelocity          = NULL;
                acceleration            = NULL;
                poses                   = NULL;
                deltaQ                  = NULL;
    
                core                    = core_;
                flags                   = flags_;
                linkCount               = 0;
                numInternalConstraints  = 0;
                
            }
 
            FeatherstoneArticulation*   articulation;
            ArticulationLink*           links;
            Cm::SpatialVectorV*         motionVelocity;
            Cm::SpatialVector*          acceleration;
            PxTransform*                poses;
            PxQuat*                     deltaQ;
    
            ArticulationCore*           core;
            const PxArticulationFlags*  flags;  // PT: PX-1399
 
            PxU8                        linkCount;
            PxU8                        numInternalConstraints;
            
        };
 
    }
 
}
 
#endif